Surgical instrument assembly comprising a lockable articulation system

ABSTRACT

A surgical stapling apparatus is disclosed which comprises a shaft, an end effector, and an articulation joint, wherein the end effector is rotatable relative to the shaft about the articulation joint. The stapling apparatus further comprises a firing drive responsive to an input, an articulation drive, and a switch assembly configured to selectively couple the articulation drive to the input. The switch assembly is configured to lock the articulation drive in position when the articulation drive is not coupled to the input.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jawmembers, wherein each jaw member can be adapted to be inserted into apatient and positioned relative to tissue that is to be stapled and/orincised. In various embodiments, one of the jaw members can support astaple cartridge with at least two laterally spaced rows of staplescontained therein, and the other jaw member can support an anvil withstaple-forming pockets aligned with the rows of staples in the staplecartridge. Generally, the stapling instrument can further include apusher bar and a knife blade which are slidable relative to the jawmembers to sequentially eject the staples from the staple cartridge viacamming surfaces on the pusher bar and/or camming surfaces on a wedgesled that is pushed by the pusher bar. In at least one embodiment, thecamming surfaces can be configured to activate a plurality of stapledrivers carried by the cartridge and associated with the staples inorder to push the staples against the anvil and form laterally spacedrows of deformed staples in the tissue gripped between the jaw members.In at least one embodiment, the knife blade can trail the cammingsurfaces and cut the tissue along a line between the staple rows.Examples of such stapling instruments are disclosed in U.S. Pat. No.7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLEMEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FORDEPLOYING THE SAME, the entire disclosure of which is herebyincorporated by reference herein.

The foregoing discussion is intended only to illustrate various aspectsof the related art in the field of the invention at the time, and shouldnot be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a surgical stapling instrument inaccordance with at least one embodiment comprising a handle, a shaftextending from the handle, an end effector, and an articulation jointrotatably connecting the end effector to the shaft;

FIG. 2 is a detail view of the articulation joint of FIG. 1;

FIG. 3 is a cross-sectional end view of the articulation joint of FIG. 1taken along line 3-3 in FIG. 2;

FIG. 4 is a cross-sectional plan view of the articulation joint of FIG.1 in an unarticulated configuration;

FIG. 5 is a cross-sectional plan view of the articulation joint of FIG.1 in an articulated configuration;

FIG. 6 is a partial cross-sectional perspective view of a shaft assemblyusable with the handle of FIG. 1;

FIG. 7 is a perspective view of the shaft assembly of FIG. 6 illustratedwith components removed to illustrate an articulation actuation system;

FIG. 8 is a perspective view of the shaft assembly of FIG. 6 illustratedwith additional components removed to illustrate the articulationactuation system of FIG. 7;

FIG. 9 is an exploded view of the shaft assembly of FIG. 6;

FIG. 10 is a cross-sectional plan view of the shaft assembly of FIG. 6illustrating the articulation actuation system in an unarticulatedconfiguration;

FIG. 11 is a cross-sectional plan view of the shaft assembly of FIG. 6illustrating the articulation actuation system in an articulatedconfiguration;

FIG. 12 is a cross-sectional elevational view of the shaft assembly ofFIG. 6 illustrated in an articulation operating mode;

FIG. 13 is a cross-sectional elevational view of the shaft assembly ofFIG. 6 illustrated in a firing operating mode;

FIG. 14 is a partial cross-sectional perspective view of a shaftassembly in accordance with at least one embodiment comprising a closuretube configured to close an end effector and, in addition, a switchassembly configured to switch the shaft assembly between an articulationoperating mode and a firing operating mode in response to the movementof the closure tube;

FIG. 15 is another partial cross-sectional perspective view of the shaftassembly of FIG. 14 illustrated with a portion of the switch assemblyremoved for the purpose of illustration;

FIG. 16 is a partial perspective view of the shaft assembly of FIG. 14illustrated with additional components removed for the purpose ofillustration;

FIG. 17 is another partial perspective view of the shaft assembly ofFIG. 14 illustrated in the articulation operating mode and furtherillustrated with the closure tube removed for the purpose ofillustration;

FIG. 18 is a partial exploded view of the shaft assembly of FIG. 14illustrated with components removed for the purpose of illustration;

FIG. 19 is another partial exploded view of the shaft assembly of FIG.14 illustrated with components removed for the purpose of illustration;

FIG. 20 is a cross-sectional end view of the shaft assembly of FIG. 14taken along line 20-20 in FIG. 17 illustrated in the articulationoperating mode;

FIG. 21 is a cross-sectional end view of the shaft assembly of FIG. 14taken along line 20-20 in FIG. 17 illustrated in the firing operatingmode;

FIG. 22 is a schematic illustrating an articulation system of the shaftassembly of FIG. 14 in an unarticulated configuration; and

FIG. 23 is a schematic illustrating an articulation system of the shaftassembly of FIG. 14 in an articulated configuration.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on even date herewith which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTINGTHE FIRING STROKE OF A FIRING MEMBER; Attorney Docket No.END7415USNP/140289;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTASSEMBLY COMPRISING LOCKABLE SYSTEMS; Attorney Docket No.END7416USNP/140291;

U.S. patent application Ser. No. ______, entitled DRIVE ARRANGEMENTS FORARTICULATABLE SURGICAL INSTRUMENTS, Attorney Docket No.END7418USNP/140292;

U.S. patent application Ser. No. ______, entitled LOCKING ARRANGEMENTSFOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL ENDEFFECTORS, Attorney Docket No. END7417USNP/140293;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTWITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLEAXIS RELATIVE TO A STAPLE CARTRIDGE, Attorney Docket No.END7485USNP1140295;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSWITH IMPROVED CLOSURE ARRANGEMENTS; Attorney Docket No. END7486/140296;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSWITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORTARRANGEMENTS, Attorney Docket No. END7489USNP/140299;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSWITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORTARRANGEMENTS, Attorney Docket No. END7491USNP/140301; and

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM; Attorney Docket No.END7492USNP/140302.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION,now U.S. Patent Application Publication No. 2014/0246471;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWEREDARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0246472;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCHARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0249557;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICALSURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. PatentApplication Publication No. 2014/0246474;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSORMOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0246478;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCHASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0246477;

U.S. patent application Ser. No. 13/782,481, entitled SENSORSTRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. PatentApplication Publication No. 2014/0246479;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODSFOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S.Patent Application Publication No. 2014/0246475;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWEREDSURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. PatentApplication Publication No. 2014/0246473; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICALINSTRUMENT SOFT STOP, now U.S. Patent Application Publication No.2014/0246476.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. PatentApplication Publication No. 2014/0263542;

U.S. patent application Ser. No. 13/803,193, entitled CONTROLARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S.Patent Application Publication No. 2014/0263537;

U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLESHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0263564;

U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541;

U.S. patent application Ser. No. 13/803,210, entitled SENSORARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS,now U.S. Patent Application Publication No. 2014/0263538;

U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTIONMOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application PublicationNo. 2014/0263554;

U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEMLOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0263565;

U.S. patent application Ser. No. 13/803,117, entitled ARTICULATIONCONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0263553;

U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAINCONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0263543; and

U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEMFOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on March 7, 2014 and is herein incorporatedby reference in its entirety:

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0263539.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENTCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATIONVERIFICATION CIRCUIT;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OFNUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENTTHROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWEREDSURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACKALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/226,116, entitled SURGICALINSTRUMENT UTILIZING SENSOR ADAPTATION;

U.S. patent application Ser. No. 14/226,071, entitled SURGICALINSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR;

U.S. patent application Ser. No. 14/226,097, entitled SURGICALINSTRUMENT COMPRISING INTERACTIVE SYSTEMS;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMSFOR USE WITH SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICALINSTRUMENT SYSTEM;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SEGMENTED CIRCUIT;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENTTHROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLINGINSTRUMENT SYSTEM; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICALINSTRUMENT COMPRISING A ROTATABLE SHAFT.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY ANDSENSORS FOR POWERED MEDICAL DEVICE;

U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITHINTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION;

U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICEDEGRADATION BASED ON COMPONENT EVALUATION;

U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORSWITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION;

U.S. patent application Ser. No. 14/479,110, entitled USE OF POLARITY OFHALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE;

U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGEWAKE UP OPERATION AND DATA RETENTION;

U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTORCONTROL FOR POWERED MEDICAL DEVICE; and

U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OFTISSUE PARAMETER STABILIZATION.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. PatentApplication Publication No. 2014/0305987;

U.S. patent application Ser. No. 14/248,581, entitled SURGICALINSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROMTHE SAME ROTATABLE OUTPUT, now U.S. Patent Application Publication No.2014/0305989;

U.S. patent application Ser. No. 14/248,595, entitled SURGICALINSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THESURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0305988;

U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEARSURGICAL STAPLER, now U.S. Patent Application Publication No.2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0305991;

U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARYDRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. PatentApplication Publication No. 2014/0305994;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLER, now U.S. Patent Application Publication No. 2014/0309665;

U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEMDECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0305990; and

U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, nowU.S. Patent Application Publication No. 2014/0305992.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. Provisional Patent Application Ser. No. 61/812,365, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEARCUTTER WITH POWER;

U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEARCUTTER WITH MOTOR AND PISTOL GRIP;

U.S. Provisional Patent Application Ser. No. 61/812,385, entitledSURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTORCONTROL; and

U.S. Provisional Patent Application Ser. No. 61/812,372, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

A surgical stapling assembly 100 is illustrated in FIGS. 1-5. Thesurgical instrument assembly 100 comprises a handle 110, a shaftassembly 120 attached to and extending from the handle 110, an endeffector 130, and an articulation joint 140 which rotatably connects theend effector 130 to the shaft assembly 120. The handle 110 comprises ahandle housing 115 and a pistol grip 112 extending from the handlehousing 115. The handle 110 further comprises a closure actuator 114configured to generate a closing motion and an opening motion which aretransferred to the end effector 130 via the shaft assembly 120. Thehandle 110 also comprises an articulation actuator 116 configured toarticulate the end effector 130 about the articulation joint 140. In atleast one instance, the articulation actuator 116 is operable in a firstdirection to rotate the end effector 130 in a first direction and asecond direction to rotate the end effector 130 in a second, oropposite, direction. The handle 110 further comprises a firing actuatorconfigured to generate a firing motion which is also transferred to theend effector 130 via the shaft assembly 120.

The shaft assembly 120 comprises a proximal housing, or nozzle, 125which is attachable to the handle housing 115. The shaft assembly 120further includes a releasable latch 126 configured to releasably lockthe shaft housing 125 to the handle housing 115. The shaft 120 alsoincludes a closure tube 124 which is operably connected to the closureactuator 114 of the handle 110. When the closure actuator 114 is drawntoward the pistol grip 112, the closure actuator 114 is advanceddistally toward the end effector 130. The closure actuator 114 iscoupled to the closure tube 124 via a system of gears and/or racks, forexample, such that the motion of the closure actuator 114 is transferredto the closure tube 124. In certain instances, the actuation of theclosure actuator 114 can operate an electric motor which can move theclosure tube 124. In either event, the handle 110 can include a lockconfigured to releasably hold the closure actuator 114 in its fullyclosed position. When the closure actuator 114 is released and movesaway from the pistol grip 112, the closure tube 124 is pulled proximallyaway from the end effector 130.

The end effector 130 comprises a first jaw 132 including a staplecartridge. The staple cartridge includes a cartridge body and aplurality of staples removably positioned in the cartridge body. Thestaple cartridge may be insertable into and readily removable from thefirst jaw 132 such that it can be replaced with another staplecartridge. In other instances, the staple cartridge may not be readilyreplaceable. In either event, the staples are ejected from the staplecartridge when a firing member is advanced distally by a firing motiongenerated when the firing actuator is actuated. The end effector furthercomprises a second jaw 134 movable between an open position and a closedposition in response to the opening motion and closing motion generatedwhen the closure actuator 114 is operated. Other embodiments areenvisioned in which the first jaw 132 is movable relative to the secondjaw 134. The second jaw 134 is configured to clamp tissue against thestaple cartridge when the second jaw 134 is moved into a closedposition. The second jaw 134 comprises an anvil configured to deform thestaples when the staples are ejected from the staple cartridge by thefiring member. The firing member also includes a cutting portion, suchas a knife, for example, which transects the tissue being stapled.

The articulation joint 140 comprises a proximal mount 141 mounted to aframe, or spine, 122 of the shaft 120. The proximal mount 141 is fixedlyattached to the shaft frame 122. The articulation joint 140 furthercomprises a distal mount 143 mounted to the first jaw 132. Similarly,the distal mount 143 is fixedly attached to the first jaw 132. Thearticulation joint 140 also comprises a plurality of elements, or discs,142 positioned intermediate the proximal mount 141 and the distal mount143. Referring primarily to FIG. 3, each disc 142 comprises a centralaperture 145 defined therein. A firing member 150, which is responsiveto the firing motions produced by the firing actuator of the handle 110,extends through the central apertures 145. Each disc 142 furthercomprises a first lateral aperture 146 and a second lateral aperture 147defined therein. The first lateral apertures 146 and the second lateralapertures 147 are positioned on opposite sides of the discs 142 and onopposite sides of the central apertures 145. A first articulationactuator 170 extends through the first lateral apertures 146. The firstarticulation actuator 170 comprises a distal end 179 fixedly mounted tothe first jaw 132. Similarly, a second articulation actuator 180 extendsthrough the second lateral apertures 147. The second articulationactuator 180 also comprises a distal end 189 fixedly mounted to thefirst jaw 132.

Articulation joints can comprise a single fixed axis pivot about whichan end effector is rotated. The articulation joint 140 does not comprisea single fixed axis pivot; rather, the articulation joint 140 comprisesan array of pivots defined by the discs 142. Each disc 142 comprises aproximal face 148 and a distal face 149. Each proximal face 148comprises a contoured surface, such as an angled and/or curved surface,for example. Similarly, each distal face 149 comprises a contouredsurface, such as an angled and/or curved surface, for example. Thecontoured surfaces 148, 149 extend laterally away from a central portionof the discs 142. As a result of the contoured surfaces 148, 149, thecentral portions of the discs 142 is thicker than the edge portions ofthe discs 142. As a result of this configuration, each disc 142 isrotatable, at least to a certain degree, relative to an adjacent disc142. When the end effector 130 is rotated in a first direction about thearticulation joint 140, referring to FIG. 5, the proximal surface 149 ofthe proximal-most disc 142 can move toward and, depending on the degreein which the end effector 130 is articulated, come into contact with theproximal mount 141. Similarly, the proximal surface 149 of the secondproximal-most disc 142 can move toward and, depending on the degree inwhich the end effector 130 is articulated, come into contact with thedistal surface 148 of the proximal-most disc 142. Likewise, the proximalsurface 149 of the third proximal-most disc 142 can move toward and,depending on the degree in which the end effector 130 is articulated,come into contact with the distal surface 148 of the secondproximal-most disc 142, and so forth.

The end effector 130 is rotated about the articulation joint 140 by thefirst articulation actuator 170 and/or the second articulation actuator180. In order to rotate the end effector 130 in a first direction,illustrated in FIG. 5, the articulation actuator 170 is pulledproximally. The articulation actuator 180 can also be pushed distally torotate the end effector 130 in the first direction. In order to rotatethe end effector 130 in a second, or opposite, direction, thearticulation actuator 180 is pulled proximally. The articulationactuator 170 can also be pushed distally to rotate the end effector inthe second direction. The articulations actuators 170, 180 can becomprised of any suitable materials, such as cables, for example.

The first articulation direction and the second articulation directionof the end effector 130 are in the same plane. This plane is defined bythe closure tube 124. The closure tube 124 comprises a proximal portionand a distal portion which are rotatably connected to each other bypivot links 126. A first pivot link 126 extends over the top of thearticulation joint 140 while a second pivot link 126 extends under thebottom of the articulation joint 140. Each pivot link 126 comprises aproximal pivot pin 127 engaged with the proximal portion of the closuretube 124 and a distal pivot pin 127 engaged with the distal portion ofthe closure tube 124. The pivot links 126 are parallel to one anotherand constrain the movement of the end effector 130 to the planeincluding the first direction and the second direction.

Once the clinician is satisfied with the orientation of the end effector130, the end effector 130 can be locked into position. The surgicalstapling assembly 100 comprises a first clamp configured to lock andhold the first articulation actuator 170 in position. When the firstclamp is in an unclamped configuration, the first articulation actuator170 can slide relative to the first clamp and, when the first clamp isin a clamped configuration, the first articulation actuator 170 isprevented from moving relative to the first clamp. When the second clampis in an unclamped configuration, the second articulation actuator 180can slide relative to the second clamp and, when the second clamp is ina clamped configuration, the second articulation actuator 180 isprevented from moving relative to the second clamp. In use, the firstclamp and the second clamp are released to unlock the articulationsystem and permit the end effector 130 to be rotated. In variousinstances, the surgical stapling assembly 100 can comprise a common lockactuator for simultaneously opening the first and second clamps. Thecommon lock actuator can also simultaneously close the first and secondclamps.

A shaft assembly 220 for use with a surgical instrument is disclosed inFIGS. 6-13. The shaft assembly 220 comprises an articulatable endeffector, such as an end effector 230 (FIGS. 10 and 11), for example.The end effector 230 is similar to the end effector 130 in manyrespects. The shaft assembly 220 also comprises a firing member, such asa firing member 251 (FIGS. 10 and 11), for example. The firing member251 is similar to the firing member 150 in many respects. The shaftassembly 220 further includes a shaft frame 222 and a movable closureactuator, or tube, 224. The closure tube 224 comprises a longitudinalaperture extending therethrough and the shaft frame 222 extends throughthe longitudinal aperture. The shaft frame 222 is mounted to a rotationjoint 290 and, as a result, the shaft frame 222 is rotatable about alongitudinal shaft axis. The shaft frame 222 is not translatableproximally and distally.

The closure tube 224 is translatable proximally and distally relative tothe shaft frame 222, as described in greater detail further below. Inaddition, the closure tube 224 is rotatable synchronously with the shaftframe 222. The shaft assembly 220 further comprises a housing, ornozzle, 225. A portion of the nozzle 225 extends through a clearanceopening defined in the closure tube 224 and is engaged with a notch 221defined in the shaft frame 222. The nozzle 225 is rotatable about thelongitudinal shaft axis to rotate the shaft frame 222 and the closuretube 224. The rotation of the shaft frame 222 and the closure tube 224about the longitudinal shaft axis rotates the end effector 230 extendingfrom the shaft assembly 220 about the longitudinal shaft axis.

The closure tube 224 is movable from a proximal position to a distalposition to, one, transition the end effector 230 from an openconfiguration to a closed configuration and, two, switch the shaftassembly 200 between an articulation operating mode and a firingoperating mode. The shaft assembly 200 comprises an input actuator 250which can operate an articulation drive 260 to articulate the endeffector 230 when the shaft assembly 200 is in its articulationoperating mode and, in addition, operate the firing member 251 to fire astaple cartridge positioned in the end effector 230 when the shaftassembly 200 is in its firing operating mode.

Referring primarily to FIGS. 7-9, the articulation drive 260 comprises abarrel drum 261, a first articulation actuator 270, and a secondarticulation actuator 280. The barrel drum 261 comprises a firstarticulation groove 262 and a second articulation groove 263 definedtherein. The first articulation groove 262 comprises a first endpositioned at a distal end of the barrel drum 261 and a second endpositioned at a proximal end of the barrel drum 261. The firstarticulation actuator 270 comprises a follower 272 extending from aproximal end 271 thereof which is positioned in the first articulationgroove 262. When the barrel drum 261 is rotated about a longitudinalaxis, a sidewall of the first articulation groove 262 engages thefollower 272 and pushes the first articulation driver 270 distally orpulls the first articulation driver 270 proximally, depending on thedirection in which the barrel drum 261 is rotated. For instance, if thebarrel drum 261 is rotated in a clockwise direction CW, the firstarticulation actuator 270 is pushed distally and, if the barrel drum 261is rotated in a counter-clockwise direction CCW, the first articulationactuator 270 is pulled proximally.

Similar to the above, the second articulation groove 263 comprises afirst end positioned at a distal end of the barrel drum 261 and a secondend positioned at a proximal end of the barrel drum 261. The secondarticulation actuator 280 comprises a follower 282 extending from aproximal end 281 thereof which is positioned in the second articulationgroove 263. When the barrel drum 261 is rotated about a longitudinalaxis, a sidewall of the first articulation groove 263 engages thefollower 282 and pushes the second articulation driver 280 distally orpulls the second articulation driver 280 proximally, depending on thedirection in which the barrel drum 261 is rotated. For instance, if thebarrel drum 261 is rotated in a clockwise direction CW, the secondarticulation actuator 280 is pulled proximally and, if the barrel drum261 is rotated in a counter-clockwise direction CCW, the secondarticulation actuator 280 is pushed distally.

The first articulation actuator 270 extends along a first lateral sideof the shaft frame 222 and the second articulation actuator 280 extendsalong a second lateral side of the shaft frame 222. The shaft frame 222comprises a first lateral window 223 defined in the first lateral sideof the shaft frame 222 and a second lateral window 223 defined in thesecond lateral side of the shaft frame 222. The first follower 272 ofthe first articulation actuator 270 extends through the first lateralwindow 223 to engage the first articulation groove 262 and the secondfollower 282 of the second articulation actuator 280 extends through thesecond lateral window 223 to engage the second articulation groove 263.

As a result of the above, the first articulation actuator 270 is pusheddistally and the second articulation actuator 280 is pulled proximallywhen the barrel drum 261 is rotated in a first, or clockwise, directionCW. Correspondingly, the first articulation actuator 270 is pulledproximally and the second articulation actuator 280 is pushed distallywhen the barrel drum 261 is rotated in a second, or counter-clockwise,direction CCW.

Referring primarily to FIGS. 10 and 11, the first articulation actuator270 comprises a distal end 278 operably engaged with the end effector230. The end effector 230 comprises a first articulation pin 277extending therefrom which is positioned in an elongate slot 279 definedin the distal end 278 of the first articulation actuator 270. The firstarticulation pin 277 is closely received within and can slide relativeto the elongate slot 279. When the first articulation actuator 270 ispulled proximally, the first articulation actuator 270 pulls the firstarticulation pin 277 proximally and the end effector 230 is rotatedabout an articulation joint 240 in the direction indicated in FIG. 11.When the first articulation actuator 270 is pushed distally, the firstarticulation actuator 270 pushes the first articulation pin 277 distallyand the end effector 230 is rotated about the articulation joint 240 inan opposite direction.

Referring primarily to FIGS. 10 and 11, the second articulation actuator280 comprises a distal end 288 operably engaged with the end effector230. The end effector 230 comprises a second articulation pin 287extending therefrom which is positioned in an elongate slot 289 definedin the distal end 288 of the second articulation actuator 270. Thesecond articulation pin 287 is closely received within and can sliderelative to the elongate slot 289. When the second articulation actuator280 is pushed distally, the second articulation actuator 280 pushes thesecond articulation pin 287 distally and the end effector 230 is rotatedabout the articulation joint 240 in the direction indicated in FIG. 11.When the second articulation actuator 280 is pulled proximally, thesecond articulation actuator 280 pulls the second articulation pin 287proximally and the end effector 230 is rotated about the articulationjoint 240 in an opposite direction.

The barrel drum 261 is movable in the clockwise CW and counter-clockwiseCCW directions by a lock tube 264. Referring primarily to FIGS. 8 and 9,the lock tube 264 is translatable within the shaft assembly 220. Thelock tube 264 comprises a cylindrical body which is positioned in aninterior cavity defined in the barrel drum 261. The lock tube 264further comprises a drive pin 268 extending therefrom which ispositioned in a drive groove 267 defined in the interior cavity surfaceof the barrel drum 261. When the lock tube 264 is moved proximally, thedrive pin 268 engages a sidewall of the drive groove 267 and rotates thebarrel drum 261 in its clockwise CW direction. When the lock tube 264 ismoved distally, the drive pin 268 engages the opposite sidewall of thedrive groove 267 and rotates the barrel drum 261 in itscounter-clockwise CCW direction. As a result, the lock tube 264 can bemoved proximally and distally to adjust the articulation of the endeffector 230.

The lock tube 264 is movable between a proximal-most position and adistal-most position. These positions define the full articulationstroke of the lock tube 264. More particularly, when the lock tube 264is in its distal-most position, the end effector 230 is in its furthestarticulated position in one direction, i.e., the direction depicted inFIG. 11, and, when the lock tube 264 is in its proximal-most position,the end effector 230 is in its furthest articulated position in theother direction. Intermediate the proximal-most position and thedistal-most position of the lock tube 264 is an intermediate positionassociated with the unarticulated position of the end effector 230,which is depicted to FIG. 10. The drive pin 268 is positioned within thedrive groove 267 throughout the articulation stroke of the lock tube264; however, other embodiments are envisioned in which the drive pin268 can exit the drive groove 267 to operably decouple the articulationsystem 260 from the input actuator 250.

Referring primarily to FIGS. 8 and 9, the lock tube 264 furthercomprises a longitudinal aperture 259 defined in the cylindrical bodyand brake arms 265 extending from the cylindrical body. The inputactuator 250 extends though the longitudinal aperture 259. The brakearms 265 are releasably engageable with the input actuator 250. When thebrake arms 265 are engaged with the input actuator 250, thetranslational movement of the input actuator 250 is transferred to thelock tube 264. When the brake arms 265 are not engaged with the inputactuator 250, the translational movement of the input actuator 250 isnot transferred to the lock tube 264. Each brake arm 265 includes atleast one ledge configured to engage the input actuator 250. Forinstance, each brake arm 265 includes a proximal drive surface 266p anda distal drive surface 266d. When the brake arms 265 are engaged withthe input actuator 250, the input actuator 250 can contact the proximaldrive surfaces 266p to push the lock tube 264 distally and the distaldrive surfaces 266d to pull the lock tube 264 proximally.

Referring primarily to FIG. 12, the shaft assembly 220 further comprisesdetents 269 which are configured to operably couple the lock tube 264 tothe input actuator 250. The detents 269 comprise spherical balls;however, any suitable configuration of the detents 269 could beutilized. Each detent 269 is positioned in a detent seat 229 defined inthe shaft frame 222. A first detent 269 is positioned in a first detentseat 229 on a first side of the shaft frame 222 and is biased intoengagement with a first brake arm 265 and a second detent 269 ispositioned in a second detent seat 229 on a second, or opposite, side ofthe shaft frame 222 and is biased into engagement with a second brakearm 265. The detents 269 are held against the brake arms 265 by theclosure tube 264 when the closure tube 264 is in its open, or proximal,position, as illustrated in FIG. 12. The brake arms 265 compriseresilient cantilever beams which are deflected inwardly toward the inputactuator 250 by the closure tube 264 and the detents 269. The closuretube 264 and the detents 269 are designed to be more rigid than thebrake arms 265 and, as a result, the brake arms 265 deform instead of,or at least sufficiently more than, the closure tube 264 and the detents269.

When the closure shaft 224 is moved into its distal, or closed position,to close the end effector 230, detent reliefs 228 defined in the closuretube 224 are aligned with the detents 269. The closure tube 224comprises a first detent relief 228 defined in the first side of theclosure tube 224 which receives the first detent 269 and a second detentrelief 228 defined in the second, or opposite, side of the closure tube224 which receives the second detent 269. Although the detent reliefs228 contain the detents 269 in the shaft assembly 220, theresiliently-compressed brake arms 265 can push the detents 269 into thedetent reliefs 228 and return, or at least partially return, to theirundeflected positions when the detent reliefs 228 are aligned with thedetents 269. In such instances, the brake arms 265 can move away fromthe input actuator 250 and become operably disengaged from the inputactuator 250. At such point, the translation of the input actuator 250is not transferred to the lock tube 264 and, as a result, thearticulation system 260 is uncoupled from the input actuator 250. Statedanother way, the closure of the closure tube 244 switches the shaftassembly 200 from an articulation operating mode to a firing operatingmode. The input actuator 250 can then be operated to advance the firingmember 251 distally to fire the staples removably stored in a staplecartridge positioned in the end effector 230. Once the staple cartridgehas been sufficiently fired, the firing member 251 can be retracted. Thefiring member 251 is connected to the input actuator 250 such that thefiring member 251 is retracted proximally when the input actuator 250 ismoved proximally.

The reader should appreciate that the firing member 251 is attached tothe input actuator 250 and, as a result, the proximal and distalmovements of the input actuator 250 during the articulation operatingmode are also being transmitted to the firing member 251 during thearticulation operating mode; however, such motions of the firing member251 during the articulation operating mode are insufficient to fire thestaple cartridge. The reader should also appreciate that thearticulation actuation system and the firing actuation system are notoperated concurrently. To this end, the articulation system 260 can't beactuated while the firing system is being actuated.

As described above, the articulation system 260 can apply a force, orforces, to the end effector 230 and position the end effector 230 duringthe articulation operating mode. External forces applied to the endeffector 230 which tend to unintentionally articulate, or back drive,the end effector 230 can be resisted by the articulation system 260, theinput actuator 250, and the electric motor which drives the inputactuator 250, for example. The articulation system 260 can also hold theend effector 230 in position during the firing operating mode. Statedanother way, the articulation system 260 is not readily back-driven bythe end effector 230 eventhough the articulation system 260 is notoperably engaged with the input actuator 250. For instance, thesidewalls of the first articulation groove 262 can be angled such thatexternal forces applied to the first articulation actuator 270 throughthe end effector 230 do not readily rotate the barrel drum 261. Also,for instance, the sidewalls of the second articulation groove 263 can beangled such that external forces applied to the second articulationactuator 280 through the end effector 230 do not readily rotate thebarrel drum 261. Such an angle can be referred to as an attack angle. Inat least one instance, the sidewalls of the first articulation groove262 and/or the second articulation groove 263 can be angled atapproximately 45 degrees and/or greater than 45 degrees, for example. Incertain instances, the sidewalls of the first articulation groove 262and/or the second articulation groove 263 can be angled at approximately30 degrees, approximately 60 degrees, and/or between 30 degrees and 60degrees, for example. In at least one instance, the sidewalls of thefirst articulation groove 262 and/or the second articulation groove 263can be angled at approximately 32 degrees and/or approximately 36degrees, for example. The sidewalls of the first articulation groove 262can be angled at a first attack angle and the sidewalls of the secondarticulation groove 263 can be angled at a second angle. The firstattack angle can be the same as the second attack angle or differentthan the second attack angle. In at least one instance, the first attackangle can be approximately 48 degrees and the second attack angle can beapproximately 19 degrees, for example. Friction forces between thearticulation actuators 270, 280 and the barrel drum 261 can inhibit themovement of the articulation system 260 and, as a result, the endeffector 230 may not articulate in response to external forces appliedthereto.

Further to the above, the interaction between the drive pin 268 of thelock tube 264 and the drive groove 267 of the barrel drum 261 can resistexternal back-driving forces which act to rotate the barrel drum 261.Stated another way, the drive pin 268 can block the barrel drum 261 fromrotating unintentionally. In such instances, the barrel drum 261 may notbe able to push the lock tube 264 distally and/or pull the lock tube 264proximally. In certain instances, the lock tube 264 can resist suchmovement as the brake arms 265 can remain frictionally engaged, or insliding contact with, the input actuator 250 eventhough the brake arms265 are no longer operably engaged with the input actuator 250 when theclosure tube 244 is in its closed position. The brake arms 265 may alsobe frictionally engaged with the detents 269. Moreover, the sidewalls ofthe drive groove 267 can be angled such that external forces applied tothe barrel drum 261 through the end effector 230 and the articulationactuators 270, 280 do not readily rotate the barrel drum 261. Frictionforces between the drive pin 268 and the drive groove 267 can inhibitthe movement of the articulation system 260 and, as a result, the endeffector 230 may not articulate in response to external forces appliedthereto.

The shaft assembly 220 can be switched from its firing operation mode toits articulation operating mode when the closure tube 224 is movedproximally toward its open position. In such instances, the detentreliefs 228 will no longer be aligned with the detents 269 and, as aresult, the closure tube 224 can bias the brake arms 265 into engagementwith the input actuator 250 via the detents 269 once again.

A shaft assembly 320 for use with a surgical instrument is disclosed inFIGS. 14-23. The shaft assembly 320 comprises an articulatable endeffector, such as the end effector 130 (FIG. 1) or the end effector 230(FIGS. 10 and 11), for example. The shaft assembly 320 also comprises afiring member, such as the firing member 150 or the firing member 251(FIGS. 10 and 11), for example. The shaft assembly 320 further includesa shaft frame 322 and a movable closure actuator, or tube, 324. Theclosure tube 324 comprises a longitudinal aperture extendingtherethrough and the shaft frame 322 extends through the longitudinalaperture. The shaft frame 322 is mounted to a rotation joint 290 and, asa result, the shaft frame 322 is rotatable about a longitudinal shaftaxis. The shaft frame 322 is not translatable proximally and distally.

The closure tube 324 is translatable proximally and distally relative tothe shaft frame 322, as described in greater detail further below. Inaddition, the closure tube 324 is rotatable synchronously with the shaftframe 322. The shaft assembly 320 further comprises a housing, ornozzle, 325. A portion of the nozzle 325 extends through a clearanceopening defined in the closure tube 324 and is engaged with a notch 321defined in the shaft frame 322. The nozzle 325 is rotatable about thelongitudinal shaft axis to rotate the shaft frame 322 and the closuretube 324. The rotation of the shaft frame 322 and the closure tube 324about the longitudinal shaft axis rotates the end effector 230, forexample, about the longitudinal shaft axis.

The closure tube 324 is movable from a proximal position to a distalposition to, one, transition the end effector 230 from an openconfiguration to a closed configuration and, two, switch the shaftassembly 320 between an articulation operating mode and a firingoperating mode. The shaft assembly 320 comprises an input actuator 350which can operate an articulation drive 360 to articulate the endeffector 230 when the shaft assembly 320 is in its articulationoperating mode and, in addition, operate the firing member 251 to fire astaple cartridge positioned in the end effector 330 when the shaftassembly 320 is in its firing operating mode.

Referring primarily to FIGS. 17-19, the articulation drive 360 comprisesan articulation gear 361, a first articulation actuator 370, and asecond articulation actuator 380. The articulation gear 361 is mountedto an articulation gear shaft 362. The articulation gear shaft 362comprises first and second ends which are rotatably mounted in thenozzle 325. The first articulation actuator 370 comprises a first rack371 at the proximal end thereof which is meshingly engaged with thearticulation gear 361. When the articulation gear 361 and the shaft 362are rotated about a longitudinal gear shaft axis, the articulation gear361 pushes the first articulation driver 370 distally or pulls the firstarticulation driver 370 proximally, depending on the direction in whichthe articulation gear 361 is rotated. Similarly, the second articulationactuator 380 comprises a second rack 381 at the proximal end thereofwhich is meshingly engaged with the articulation gear 361. When thearticulation gear 361 and shaft 362 are rotated about the longitudinalgear shaft axis, the articulation gear 361 pushes the secondarticulation driver 380 distally or pulls the second articulation driver380 proximally, depending on the direction in which the articulationgear 361 is rotated.

As a result of the above, the first articulation actuator 370 is pusheddistally and the second articulation actuator 380 is pulled proximallywhen the articulation gear 361 is rotated in a first direction.Correspondingly, the first articulation actuator 370 is pulledproximally and the second articulation actuator 380 is pushed distallywhen the articulation gear 361 is rotated in a second direction. FIG. 22depicts the articulation actuators 370, 380 in an unarticulatedconfiguration. FIG. 23 depicts the articulation actuators 370, 380 in anarticulated configuration.

Similar to the first articulation actuator 270, the first articulationactuator 370 comprises a distal end operably engaged with the endeffector 230, for example. When the first articulation actuator 370 ispulled proximally, the end effector 230 is rotated about thearticulation joint 240 in the direction indicated in FIG. 11. When thefirst articulation actuator 370 is pushed distally, the end effector 230is rotated about the articulation joint 240 in an opposite direction.Similar to the second articulation actuator 280, the second articulationactuator 380 comprises a distal end operably engaged with the endeffector 230. When the second articulation actuator 380 is pusheddistally, the end effector 230 is rotated about the articulation joint240 in the direction indicated in FIG. 11. When the second articulationactuator 380 is pulled proximally, the end effector 230 is rotated aboutthe articulation joint 240 in an opposite direction.

With continued reference to FIGS. 17-19 and also referring to FIGS. 20and 21, the articulation gear 361 is selectively drivable by a couplergear 363, depending on whether the shaft assembly 320 is in anarticulation operating mode, illustrated in FIG. 20, or a firingoperating mode, illustrated in FIG. 21. When the shaft assembly 320 isin its articulation operating mode, the coupler gear 363 is meshinglyengaged with the articulation gear 361 and, in addition, a rack 353defined on an input actuator 350. When the input actuator 350 istranslated proximally, and the coupler gear 363 is operably engaged withthe input actuator 350 and the rack 353, the articulation gear 361 isrotated in its first direction. When the input actuator 350 istranslated distally, and the coupler gear 363 is operably engaged withthe input actuator 350 and the rack 353, the articulation gear 361 isrotated in its second direction.

The coupler gear 363 is rotatably mounted to a lock drum 364. The lockdrum 364 includes a shaft extending therefrom about which the couplergear 363 is rotatably positioned. The lock drum 364 is rotatable betweena first, or engaged, position in which the coupler gear 363 is operablyengaged with the articulation gear 361 and the rack 353 and a second, ordisengaged, position in which the coupler gear 363 is operablydisengaged from the articulation gear 361 and/or the rack 353. The lockdrum 364 includes a switch arm 368 extending therefrom which, referringto FIG. 16, extends through a window defined the in the closure tube324. An edge of the closure tube window comprises a cam 326. The cam 326is configured to contact the switch arm 368 when the closure tube 324 ismoved between a proximal, or open, position and a distal, or closed,position to move the end effector 230 between an open configuration anda closed configuration. In such instances, the cam 326 moves the lockdrum 364 between its first position illustrated in FIG. 20, which isassociated with the articulation operating mode, and its second positionillustrated in FIG. 21, which is associated with the firing operatingmode.

Further to the above, referring primarily to FIGS. 14 and 15, the shaftassembly 320 comprises a switch drum 365 and a biasing member, such as atorsion spring 327, for example, positioned intermediate the switch drum365 and the nozzle 325. The torsion spring 327 is compressed between theswitch drum 365 and the nozzle 325 and applies a biasing force to theswitch drum 365 into a first position associated with the articulationoperating mode of the shaft assembly 320. Referring primarily to FIG.20, the switch arm 368 of the lock drum 364 extends into the switch drum365 and, as a result, the torsion spring 327 biases the lock drum 364into its first position. When the closure tube 324 is advanced distally,as described above, the cam 326 defined on the closure tube 324 contactsthe switch arm 368 and rotates the switch drum 365 and the lock drum 364into their second positions and, as a result, switches the shaftassembly 320 into is firing operating mode, as illustrated in FIG. 21.The movement of the switch drum 365 from its first position to itssecond position compresses, or further compresses, the torsion spring327.

In the firing operation mode of the shaft assembly 320, the articulationdrive 360 is unresponsive to the translational movements of the inputactuator 350 and, also, the input actuator 350 is advanceable distallyto move the firing member 251 distally and fire the staple cartridgepositioned in the end effector 230. In various instances, the inputactuator 350 is operably coupled with an electric motor, for example,configured to move the input actuator 350 distally. The input actuator350 is also movable proximally by the electric motor, for example, toretract the firing member 251. Referring primarily to FIG. 19, the inputactuator 350 includes a longitudinal slot 352 defined therein whichcomprises a clearance slot for the articulation gear shaft 362.Referring primarily to FIG. 15, the closure tube 324 comprises a similarlongitudinal clearance slot 328 for the articulation gear shaft 362defined therein. Such longitudinal clearance slots are needed becausethe input actuator 350 and the closure tube 324 are movedlongitudinally. Referring to FIG. 17, the lock drum 364 is nottranslatable longitudinally; however, it is rotatable about thelongitudinal shaft axis and, thus, the lock drum 364 includes acircumferential clearance slot 366 defined therein for the articulationgear shaft 362.

Further to the above, referring primarily to FIGS. 18-21, the lock drum364 includes a lock 369. When the lock drum 364 is in its first positionand the shaft assembly 320 is in its articulation operation mode,referring primarily to FIG. 20, the lock 369 is not engaged with thearticulation gear 361 and the articulation gear 361 is free to rotateand drive the articulation actuators 370, 380, as discussed above. Whenthe lock drum 364 is in its second position and the shaft assembly 320is in its firing operation mode, referring primarily to FIG. 21, thelock 369 is engaged with the articulation gear 361. When the lock 369 isengaged with the articulation gear 361, the articulation gear 361 isprevented from rotating. As a result, not only is the articulation drive360 uncoupled from the input actuator 350 when the shaft assembly 320 isin its firing operation mode, the articulation drive 360 is locked inplace. Such an arrangement can lock the end effector 230 in anarticulated position or an unarticulated position. Such an arrangementcan also prevent, or at least inhibit, the unintentional movement of theend effector 230 in response to external forces, or back-driving.

The shaft assembly 320 can be switched from its firing operation mode toits articulation operation mode when the closure tube 324 is movedproximally toward its open position. In such instances, the cam 326 canbe pulled proximally away from the switch arm 368 and the torsion spring327 can bias the switch drum 365 and the lock drum 364 back into theirfirst positions. When the lock drum 364 is returned to its firstposition, the coupler gear 363 is remeshed with the articulation gear361 and the rack 353. In addition, the lock 369 is rotated away from anddisengaged from the articulation gear 361.

As outlined above, the shaft assembly 320 is rotatable about alongitudinal axis to rotate the end effector 230 about the longitudinalaxis. Similar to the above, referring primarily to FIG. 16, the shaftassembly 320 comprises a rotation joint 290 configured to accommodatethis rotation. The shaft assembly 320 further comprises a slip jointconfigured to transmit electrical power and/or signals between the shaftassembly 320 and a handle, such as handle 110, for example, supportingthe shaft assembly 320. The slip joint comprises a stationary, orhandle-side, portion 291 and a movable, or shaft-side, portion 292 whichis movable relative the stationary portion 291. The stationary portion291 comprises annular contact rings and the movable portion 292comprises electrical contacts 293 slidably engaged with the annularcontact rings. The movable portion 292 also comprises a switch drumsensor 296 configured to detect the position of the switch drum 295,i.e., whether the switch drum 295 is in its first position, its secondposition, and/or somewhere in between, for example. In at least oneinstance, the switch drum 295 comprises a detectable element 297, suchas a magnet, for example, mounted thereto which is detected by theswitch drum sensor 296, which can comprise a Hall Effect sensor, forexample. The switch drum sensor 296 can be in signal communication withthe handle of the surgical instrument and can communicate the positionof the switch drum 295, and the operation mode of the shaft assembly230, to the handle. The handle can utilize this data to adapt theoperability of the handle. For instance, if the switch drum sensor 296detects that the switch drum 295 is in its first position associatedwith the articulation operation mode, the handle can deactivate thefiring controls on the handle and/or make the electrical motor whichdrives the input actuator 350 unresponsive to the firing controls of thehandle, for example. Similarly, if the switch drum sensor 296 detectsthat the switch drum 295 is in its second position associated with thefiring operation mode, the handle can deactivate the articulationcontrols on the handle and/or make the electrical motor which drives theinput actuator 350 unresponsive to the articulation controls of thehandle, for example.

EXAMPLES

Example 1—A shaft assembly for use with a surgical instrument assemblycomprising an end effector, wherein the end effector comprises aproximal end, a distal end, and a closable jaw. The shaft assemblyfurther comprises an articulation joint, wherein the end effector isrotatable about the articulation joint, an input actuator movable in aproximal direction and a distal direction, a closure system comprising aclosing member movable between an open configuration and a closedconfiguration to close the jaw, a firing system comprising a firingmember configured to actuate the end effector, and an articulationsystem comprising an articulation actuator configured to articulate theend effector. The shaft assembly further comprises a switching systemconfigured to operably couple the articulation system to the inputactuator when the closure system is in the open configuration, operablydecouple the articulation system from the input actuator when theclosure system is in the closed configuration, and lock the articulationsystem in its articulated position when the closure system is in theclosed configuration.

Example 2—The shaft assembly of Example 1, wherein the end effectorfurther comprises a staple cartridge including staples removably storedtherein.

Example 3—The shaft assembly of Example 2, wherein the staple cartridgeis readily removable from the end effector.

Example 4—The shaft assembly of Examples 2 or 3, wherein the movable jawcomprises an anvil configured to deform the staples.

Example 5—The shaft assembly of Examples 1, 2, 3, or 4, wherein thearticulation actuator comprises a first articulation actuator, whereinthe articulation system further comprises a second articulation actuatorconfigured to rotate the end effector and a rotatable articulationdriver comprising a first actuator slot and a second actuator slot,wherein the first articulation actuator is operably engaged with thefirst actuator slot, wherein the second articulation actuator isoperably engaged with the second actuator slot, wherein the articulationdriver is rotatable in a first direction to push the first articulationactuator distally and pull the second articulation actuator proximally,and wherein the articulation driver is rotatable in a second directionto pull the first articulation actuator proximally and push the secondarticulation actuator distally.

Example 6—The shaft assembly of Example 5, wherein the rotatablearticulation driver comprises a longitudinal aperture, wherein the inputactuator extends through the longitudinal aperture, wherein the inputactuator rotates the articulation driver in the first direction when theinput actuator is moved in the proximal direction, and wherein the inputactuator rotates the articulation driver in the second direction whenthe input actuator is moved in the distal direction.

Example 7—The shaft assembly of Examples 1, 2, 3, or 4, wherein thearticulation actuator comprises a first articulation actuator, whereinthe articulation system further comprises a second articulation actuatorconfigured to rotate the end effector, wherein the input actuatorcomprises a rack of teeth, wherein the switching system comprises arotatable pinion gear movable between a first position in which thepinion gear is operably engaged with the first articulation actuator,the second articulation actuator, and the rack of teeth and a secondposition in which the pinion gear is operably disengaged from the firstarticulation actuator and the second articulation actuator.

Example 8—The shaft assembly of Example 7, wherein the pinion gear isrotatably mounted to a rotatable switch, wherein the rotatable switchcomprises a lock configured to prevent the movement of the firstarticulation actuator and the second articulation actuator when therotatable pinion gear is in the second position.

Example 9—A shaft assembly for use with a surgical instrument, the shaftassembly comprising an end effector including a proximal end, a distalend, and a closable jaw. The shaft assembly further comprises anarticulation joint, wherein the end effector is rotatable about thearticulation joint, an input actuator movable in a proximal directionand a distal direction, a closure system comprising a closing membermovable between an open configuration and a closed configuration toclose the jaw, a firing system comprising a firing member configured toactuate the end effector, and an articulation system comprising anarticulation actuator configured to articulate the end effector. Theshaft assembly further comprises a switching system configured tooperably couple the articulation system to the input actuator when theclosure system is in the open configuration, operably decouple thearticulation system from the input actuator when the closure system isin the closed configuration, and wherein the switching system comprisesa brake configured to hold the articulation system in its articulatedposition when the closure system is in the closed configuration.

Example 10—The shaft assembly of Example 9, wherein the end effectorfurther comprises a staple cartridge including staples removably storedtherein.

Example 11—A shaft assembly for use with a surgical instrument, theshaft assembly comprising an end effector including a proximal end, adistal end, and a closable jaw. The shaft assembly further comprises anarticulation joint, wherein the end effector is rotatable about thearticulation joint, an input actuator movable in a proximal directionand a distal direction, a closure system comprising a closing membermovable between an open configuration and a closed configuration toclose the jaw, a firing system comprising a firing member configured toactuate the end effector, and an articulation system. The articulationsystem comprising a first articulation member configured to articulatethe end effector in a first direction, and a second articulation memberconfigured to articulate the end effector in a second direction. Theshaft assembly further comprising a switching system configured tooperably couple the articulation system to the input actuator when theclosure system is in the open configuration, and operably decouple thearticulation system from the input actuator when the closure system isin the closed configuration. The shaft assembly further comprisinglocking means for locking the articulation system in its articulatedposition when the closure system is in the closed configuration.

Example 12—The shaft assembly of Example 11, wherein the end effectorfurther comprises a staple cartridge including staples removably storedtherein.

Example 13—A shaft assembly for use with a surgical instrument, theshaft assembly comprising, one, an end effector including a proximalend, a distal end, and a closable jaw and, two, an articulation joint,wherein the end effector is rotatable about the articulation joint in afirst direction and a second direction. The articulation joint comprisesa plurality of discs, wherein each disc comprises a first lateralaperture and a second lateral aperture, a first cable actuator extendingthrough the first lateral apertures, wherein the first cable actuatorcomprises a first distal end mounted to the end effector and a firstproximal end, and a second cable actuator extending through the secondlateral apertures, wherein the second cable actuator comprises a seconddistal end mounted to the end effector and a second proximal end. Theshaft assembly further comprises a locking system configured to hold thefirst proximal end and the second proximal end in position.

Example 14—The shaft assembly of Example 13, wherein the end effectorfurther comprises a staple cartridge including staples removably storedtherein.

Example 15—The shaft assembly of Example 14, wherein the staplecartridge is readily removable from the end effector.

Example 16—The shaft assembly of Examples 14 and 15, wherein the movablejaw comprises an anvil configured to deform the staples.

Example 17—The shaft assembly of Examples 13, 14, 15, or 16, wherein thelocking system comprises a clamp configured to engage the first cableactuator and the second cable actuator and hold the first cable actuatorand the second cable actuator in position.

Example 18—The shaft assembly of Example 17, wherein the clamp isconfigured to engage and release the first cable actuator and the secondcable actuator simultaneously.

Example 19—The shaft assembly of Examples 13, 14,15, 16, 17, or 18,wherein the first cable actuator is configured to push the end effectorto articulate the end effector in the first direction and pull the endeffector to articulate the end effector in the second direction.

Example 20—The shaft assembly of Example 13, 14,15, 16, 17, 18, or 19,wherein the second cable actuator is configured to pull the end effectorto articulate the end effector in the first direction and push the endeffector to articulate the end effector in the second direction.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21,2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued onSep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec.16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. Patent Application Ser. No. 12/031,873, entitled END EFFECTORS FORA SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, nowU.S. Pat. No. 7,980,443;

U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICALCUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROLASSEMBLY, filed Dec. 24, 2009; now U.S. Pat. No. 8,220,688;

U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE,filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLINGINSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S.Patent Application Publication No. 2012/0298719;

U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012;now U.S. Patent Application Publication No. 2013/0334278;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICALCUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM,filed Jan. 31, 2006; and

U.S. Patent Application Publication No. 2010/0264194, entitled SURGICALSTAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22,2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by referenceherein.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A shaft assembly for use with a surgicalinstrument, said shaft assembly comprising: an end effector, comprising:a proximal end; a distal end; and a closable jaw; an articulation joint,wherein said end effector is rotatable about said articulation joint; aninput actuator movable in a proximal direction and a distal direction; aclosure system comprising a closing member movable between an openconfiguration and a closed configuration to close said jaw; a firingsystem comprising a firing member configured to actuate said endeffector; an articulation system comprising an articulation actuatorconfigured to articulate said end effector; and a switching systemconfigured to: operably couple said articulation system to said inputactuator when said closure system is in said open configuration;operably decouple said articulation system from said input actuator whensaid closure system is in said closed configuration; and lock saidarticulation system in its articulated position when said closure systemis in said closed configuration.
 2. The shaft assembly of claim 1,wherein said end effector further comprises a staple cartridge includingstaples removably stored therein.
 3. The shaft assembly of claim 2,wherein said staple cartridge is readily removable from said endeffector.
 4. The shaft assembly of claim 2, wherein said movable jawcomprises an anvil configured to deform said staples.
 5. The shaftassembly of claim 1, wherein said articulation actuator comprises afirst articulation actuator, wherein said articulation system furthercomprises: a second articulation actuator configured to rotate said endeffector; a rotatable articulation driver comprising a first actuatorslot and a second actuator slot, wherein said first articulationactuator is operably engaged with said first actuator slot, wherein saidsecond articulation actuator is operably engaged with said secondactuator slot, wherein said articulation driver is rotatable in a firstdirection to push said first articulation actuator distally and pullsaid second articulation actuator proximally, and wherein saidarticulation driver is rotatable in a second direction to pull saidfirst articulation actuator proximally and push said second articulationactuator distally.
 6. The shaft assembly of claim 5, wherein saidrotatable articulation driver comprises a longitudinal aperture, whereinsaid input actuator extends through said longitudinal aperture, whereinsaid input actuator rotates said articulation driver in said firstdirection when said input actuator is moved in said proximal direction,and wherein said input actuator rotates said articulation driver in saidsecond direction when said input actuator is moved in said distaldirection.
 7. The shaft assembly of claim 1, wherein said articulationactuator comprises a first articulation actuator, wherein saidarticulation system further comprises a second articulation actuatorconfigured to rotate said end effector, wherein said input actuatorcomprises a rack of teeth, wherein said switching system comprises arotatable pinion gear movable between a first position in which thepinion gear is operably engaged with said first articulation actuator,said second articulation actuator, and said rack of teeth and a secondposition in which the pinion gear is operably disengaged from said firstarticulation actuator and said second articulation actuator.
 8. Theshaft assembly of claim 7, wherein said pinion gear is rotatably mountedto a rotatable switch, wherein said rotatable switch comprises a lockconfigured to prevent the movement of said first articulation actuatorand said second articulation actuator when said rotatable pinion gear isin said second position.
 9. A shaft assembly for use with a surgicalinstrument, said shaft assembly comprising: an end effector, comprising:a proximal end; a distal end; and a closable jaw; an articulation joint,wherein said end effector is rotatable about said articulation joint; aninput actuator movable in a proximal direction and a distal direction; aclosure system comprising a closing member movable between an openconfiguration and a closed configuration to close said jaw; a firingsystem comprising a firing member configured to actuate said endeffector; an articulation system comprising an articulation actuatorconfigured to articulate said end effector; and a switching systemconfigured to: operably couple said articulation system to said inputactuator when said closure system is in said open configuration;operably decouple said articulation system from said input actuator whensaid closure system is in said closed configuration; and wherein saidswitching system comprises a brake configured to hold said articulationsystem in its articulated position when said closure system is in saidclosed configuration.
 10. The shaft assembly of claim 9, wherein saidend effector further comprises a staple cartridge including staplesremovably stored therein.
 11. A shaft assembly for use with a surgicalinstrument, said shaft assembly comprising: an end effector, comprising:a proximal end; a distal end; and a closable jaw; an articulation joint,wherein said end effector is rotatable about said articulation joint; aninput actuator movable in a proximal direction and a distal direction; aclosure system comprising a closing member movable between an openconfiguration and a closed configuration to close said jaw; a firingsystem comprising a firing member configured to actuate said endeffector; an articulation system, comprising: a first articulationmember configured to articulate said end effector in a first direction;and a second articulation member configured to articulate said endeffector in a second direction; a switching system configured to:operably couple said articulation system to said input actuator whensaid closure system is in said open configuration; and operably decouplesaid articulation system from said input actuator when said closuresystem is in said closed configuration; and locking means for lockingsaid articulation system in its articulated position when said closuresystem is in said closed configuration.
 12. The shaft assembly of claim11, wherein said end effector further comprises a staple cartridgeincluding staples removably stored therein.
 13. A shaft assembly for usewith a surgical instrument, said shaft assembly comprising: an endeffector, comprising: a proximal end; a distal end; and a closable jaw;an articulation joint, wherein said end effector is rotatable about saidarticulation joint in a first direction and a second direction, andwherein said articulation joint comprises: a plurality of discs, whereineach said disc comprises a first lateral aperture and a second lateralaperture; a first cable actuator extending through said first lateralapertures, wherein said first cable actuator comprises: a first distalend mounted to said end effector; and a first proximal end; and a secondcable actuator extending through said second lateral apertures, whereinsaid second cable actuator comprises: a second distal end mounted tosaid end effector; and a second proximal end; and a locking systemconfigured to hold said first proximal end and said second proximal endin position.
 14. The shaft assembly of claim 13, wherein said endeffector further comprises a staple cartridge including staplesremovably stored therein.
 15. The shaft assembly of claim 14, whereinsaid staple cartridge is readily removable from said end effector. 16.The shaft assembly of claim 14, wherein said movable jaw comprises ananvil configured to deform said staples.
 17. The shaft assembly of claim13, wherein said locking system comprises a clamp configured to engagesaid first cable actuator and said second cable actuator and hold saidfirst cable actuator and said second cable actuator in position.
 18. Theshaft assembly of claim 17, wherein said clamp is configured to engageand release said first cable actuator and said second cable actuatorsimultaneously.
 19. The shaft assembly of claim 17, wherein said firstcable actuator is configured to push said end effector to articulatesaid end effector in said first direction and pull said end effector toarticulate said end effector in said second direction.
 20. The shaftassembly of claim 19, wherein said second cable actuator is configuredto pull said end effector to articulate said end effector in said firstdirection and push said end effector to articulate said end effector insaid second direction.